Prediction of part orientation error tolerance of a robotic gripper

This paper presents a model which predicts the part orientation error tolerance of a three-fingered robotic gripper. The concept of “self-alignment” is introduced, where the gripper uses the grasping process to bring the workpiece into its final state of orientation. The gripper and part are represented mathematically, and initial contact locations upon grasp closure determined. This information is used to solve for the contact forces present, and criteria are developed to determine if beneficial part motion resulting in self-alignment is expected. The results are visualized via a boundary projected on a reference plane below the part. The model is validated experimentally with a number of part configurations with favorable results. This method presents a useful tool by which the mechanical designer can quantitatively predict the performance of an intuitively designed gripping system.     

Foot motions in manual material handling transfer tasks: a taxonomy and data from an automotive assembly plant

Ergonomic job analysis commonly applies static postural and biomechanical analysis tools to particular postures observed during manual material handling (MMH) tasks, usually focusing on the most extreme postures or those involving the highest loads. When these analyses are conducted prospectively using digital human models, accurate prediction of the foot placements is critical to realistic postural analyses. In automotive assembly jobs, workers frequently take several steps between task elements, for example, picking up a part at one location and moving to another location to place it on the vehicle. A detailed understanding of the influence of task type and task sequence on the stepping pattern is necessary to accurately predict the foot placements associated with MMH tasks. The current study examined the patterns of foot motions observed during automotive assembly tasks. Video data for 529 pickup and delivery tasks from 32 automotive assembly jobs were analysed. A minimum of five cycles was analysed for each task. The approach angle, departure angle, hand(s) used, manipulation height and patterns of footsteps were coded from the video. Object mass was identified from the job information sheet provided by the assembly plant. Three independent raters coded each video and demonstrated an intraclass correlation coefficient of 0.54 for identification of the configuration of the lower extremities during terminal stance. Based on an analysis of the distribution of stepping behaviours during object transitions (pickups or deliveries), a transition classification system (TRACS) was developed. TRACS uses a compact notation to quantify the sequence of steps associated with a MMH transition. Five TRACS behaviour groups accounted for over 90% of the transition stepping behaviours observed in the assembly plant. Approximately two-thirds (68.4%) of the object transfers observed were performed with only one foot in contact with the ground during the terminal posture. The results from this paper suggest that a predictive model for choosing a transition stepping behaviour, coupled with a model to scale the selected foot behaviours, is needed to facilitate accurate prospective ergonomic analyses. This study proposes a method for categorising the stepping patterns associated with MMH tasks. The influence of task type and task sequence on the stepping patterns observed during several automotive assembly tasks is discussed. For prospective postural analyses conducted using digital human models, accurate prediction of the foot placements is critical to realistic postural analyses.     

A novel TFT‐OLED integration for OLED‐independent pixel programming in amorphous‐Si AMOLED pixels

Abstract— The direct voltage programming of active‐matrix organic light‐emitting‐diode (AMOLED) pixels with n‐channel amorphous‐Si (a‐Si) TFTs requires a contact between the driving TFT and the OLED cathode. Current processing constraints only permit connecting the driving TFT to the OLED anode. Here, a new “inverted” integration technique which makes the direct programming possible by connecting the driver n‐channel a‐Si TFT to the OLED cathode is demonstrated. As a result, the pixel drive current increases by an order of magnitude for the same data voltages and the pixel data voltage for turn‐on drops by several volts. In addition, the pixel drive current becomes independent of the OLED characteristics so that OLED aging does not affect the pixel current. Furthermore, the new integration technique is modified to allow substrate rotation during OLED evaporation to improve the pixel yield and uniformity. The new integration technique is important for realizing active‐matrix OLED displays with a‐Si technology and conventional bottom‐anode OLEDs.     

A framework of interaction costs in information visualization

Interaction cost is an important but poorly understood factor in visualization design. We propose a framework of interaction costs inspired by Norman’s Seven Stages of Action to facilitate study. From 484 papers, we collected 61 interaction-related usability problems reported in 32 user studies and placed them into our framework of seven costs: (1) Decision costs to form goals; (2) System-power costs to form system operations; (3) Multiple input mode costs to form physical sequences; (4) Physical-motion costs to execute sequences; (5) Visual-cluttering costs to perceive state; (6) View-change costs to interpret perception; (7) State-change costs to evaluate interpretation. We also suggested ways to narrow the gulfs of execution (2–4) and evaluation (5–7) based on collected reports. Our framework suggests a need to consider decision costs (1) as the gulf of goal formation.     

Critical success factors revisited: success and failure cases of information systems for senior executives

The literature suggests the existence of critical success factors (CSFs) for the development of information systems that support senior executives. Our study of six organizations gives evidence for this notion of CSFs. The study further shows an interesting pattern, namely that companies either “get it right”, and essentially succeed on all CSFs, or “get it completely wrong”, that is, fall short on each of the CSFs. Among the six cases for which data were collected through in-depth interviews with company executives, three organizations seemed to manage all the CSFs properly, while two others managed all CSFs poorly. Only one organization showed a mixed scorecard, managing some factors well and some not so well. At the completion of the study, this organization could neither be judged as a success, nor as a failure. This dichotomy between success and failure cases suggests the existence of an even smaller set of “meta-success” factors. Based on our findings, we speculate that these “meta-success” factors are “championship”, “availability of resources”, and “link to organization objectives”.     

Three Rules Suffice for Good Label Placement

The general label-placement problem consists in labeling a set of features (points, lines, regions) given a set of candidates (rectangles, circles, ellipses, irregularly shaped labels) for each feature. The problem arises when annotating classical cartographical maps, diagrams, or graph drawings. The size of a labeling is the number of features that receive pairwise nonintersecting candidates. Finding an optimal solution, i.e., a labeling of maximum size, is NP-hard. We present an approach to attack the problem in its full generality. The key idea is to separate the geometric part from the combinatorial part of the problem. The latter is captured by the conflict graph of the candidates. We present a set of rules that simplify the conflict graph without reducing the size of an optimal solution. Combining the application of these rules with a simple heuristic yields near-optimal solutions. We study competing algorithms and do a thorough empirical comparison on point-labeling data. The new algorithm we suggest is fast, simple, and effective. Received December 21, 1998; revised October 13, 1999.     

Application of autoregressive spectral analysis to cepstral estimation of mean scatterer spacing

The problem of estimation of mean scatterer spacing in an object containing regularly spaced structures is addressed. An autoregressive (AR) spectral estimation method is compared with a conventional fast Fourier transform (FFT)-based approach for this task. Regularly spaced structures produce a periodicity in the power spectrum of ultrasonic backscatter. This periodicity is manifested as a peak in the cepstrum. A phantom was constructed for comparison of the two methods. It contained regularly spaced nylon filaments. It also contained randomly positioned glass spheres that produced incoherent backscatter. In an experiment in which this target was interrogated using broadband ultrasound, the AR spectral estimate offered considerable improvement over the FFT when the analysis gate length was on the order of the structural dimension. Advantages included improved resolution, reduction in bias and variance of scatterer spacing estimates, and greater resistance to ringing artifacts. Data were also acquired from human liver in vivo. AR spectral estimates on human data exhibited a decreased dependence on gate length. These results offer promise for enhanced spatial resolution and accuracy in ultrasonic tissue characterization and nondestructive evaluation of materials.     

Will virtual education initiatives succeed?

The use of information technology to enhance teaching and learning processes has been practiced for a number of years now. However, the rapid growth in the use of the Internet has led to a new dimension in interactive and collaborative learning anytime and anyplace dynamically. With the explosion of “virtual education initiatives”, the question of the feasibility and success criteria for such projects quickly arises. To address the question in an organized way, we propose a project assessment based on critical success factors. Hence, in this article, we draw on a widely recognized critical success factor framework. We (slightly) adjust the framework to fit the special characteristics of virtual education initiatives, and apply to one case study, namely the virtual education initiative at the Faculty of Business at the City University of Hong Kong. The results suggest that the past success of the case is due to the adherence to the large majority of critical success factors. However, it also outlines some areas of concern. The paper concludes with a discussion on the strength and limitations of virtual learning environment as well as future directions. This revised version was published online in July 2006 with corrections to the Cover Date.